66 lines
2.2 KiB
C++
66 lines
2.2 KiB
C++
#include "unload_to_finda.h"
|
|
#include "../modules/finda.h"
|
|
#include "../modules/globals.h"
|
|
#include "../modules/idler.h"
|
|
#include "../modules/leds.h"
|
|
#include "../modules/motion.h"
|
|
#include "../modules/permanent_storage.h"
|
|
|
|
namespace logic {
|
|
|
|
namespace mm = modules::motion;
|
|
namespace mg = modules::globals;
|
|
namespace mf = modules::finda;
|
|
namespace mi = modules::idler;
|
|
namespace ml = modules::leds;
|
|
namespace mp = modules::permanent_storage;
|
|
|
|
void UnloadToFinda::Reset(uint8_t maxTries) {
|
|
this->maxTries = maxTries;
|
|
// check the inital state of FINDA and plan the moves
|
|
if (!mf::finda.Pressed()) {
|
|
state = OK; // FINDA is already off, we assume the fillament is not there, i.e. already unloaded
|
|
} else {
|
|
// FINDA is sensing the filament, plan moves to unload it
|
|
state = EngagingIdler;
|
|
mi::idler.Engage(mg::globals.ActiveSlot());
|
|
}
|
|
}
|
|
|
|
bool UnloadToFinda::Step() {
|
|
switch (state) {
|
|
case EngagingIdler:
|
|
if (mi::idler.Engaged()) {
|
|
state = WaitingForFINDA;
|
|
int unloadSteps = mp::BowdenLength::get() + 1100;
|
|
const int second_point = unloadSteps - 1300;
|
|
mm::motion.PlanMove(mm::Pulley, -1400, 6000); // @@TODO constants
|
|
mm::motion.PlanMove(mm::Pulley, -1800 + 1400, 2500); // @@TODO constants 1800-1400 = 400
|
|
mm::motion.PlanMove(mm::Pulley, -second_point + 1800, 550); // @@TODO constants
|
|
ml::leds.SetMode(mg::globals.ActiveSlot(), ml::Color::green, ml::blink0);
|
|
}
|
|
return false;
|
|
case WaitingForFINDA:
|
|
if (!mf::finda.Pressed()) {
|
|
// detected end of filament
|
|
state = OK;
|
|
mm::motion.AbortPlannedMoves(); // stop rotating the pulley
|
|
} else if (/*tmc2130_read_gstat() &&*/ mm::motion.QueueEmpty()) {
|
|
// we reached the end of move queue, but the FINDA didn't switch off
|
|
// two possible causes - grinded filament or malfunctioning FINDA
|
|
if (--maxTries) {
|
|
Reset(maxTries); // try again
|
|
} else {
|
|
state = Failed;
|
|
}
|
|
}
|
|
return false;
|
|
case OK:
|
|
case Failed:
|
|
default:
|
|
return true;
|
|
}
|
|
}
|
|
|
|
} // namespace logic
|